PhD Student, Department of Electronic Engineering, Tsinghua University
Building scalable simulation, sensing, and sim-to-real systems for robot learning
I design and build high-throughput infrastructure for embodied intelligence: photorealistic robot simulators, GPU-accelerated sensor pipelines, real-sim-real evaluation workflows, and whole-body control systems that move research from algorithm prototypes toward deployable robot stacks.
I am a PhD student at Tsinghua University, advised in embodied AI and robot learning. I received my B.E. from the Department of Automation, Tsinghua University in 2023.
- High-throughput robot simulation: scalable simulators for vision-informed robot learning, high-fidelity environments, and large-scale policy training.
- GPU-accelerated perception infrastructure: fast LiDAR and 3D Gaussian Splatting based sensing pipelines for simulation and evaluation.
- Sim-to-real system design: reusable bridges across simulators, robot assets, controllers, ROS2 interfaces, and deployment workflows.
- Whole-body mobile manipulation: loco-manipulation systems that combine control, perception, and reinforcement learning under real robot constraints.
| System | Role | What it enables |
|---|---|---|
| GS-Playground | First author | High-throughput photorealistic simulation for vision-informed robot learning |
| DISCOVERSE | First author | Efficient robot simulation in complex, high-fidelity environments |
| FGGS-LiDAR | First / co-first author | Ultra-fast GPU-accelerated LiDAR simulation from general 3DGS models |
| MuJoCo-LiDAR | Open-source project | High-performance LiDAR simulation for MuJoCo |
| urdf2mjcf | Open-source project | One-click generation of simulation-ready MJCF assets from URDF |
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[RSS 2026] GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
Webpage / arXiv / Repo -
[RAL 2026] ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representations
Webpage / arXiv -
[IROS 2025 Oral] DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
Webpage / arXiv / Repo -
FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR
arXiv / Repo -
FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
arXiv / Repo -
[IROS 2024 Oral] Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot
Webpage / arXiv / Repo -
[ICRA 2023 Poster] Designing the Whole-Body Controller for a Wheel-Legged Mobile Manipulator
Webpage
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[RSS 2026] HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation
arXiv -
[CoRL 2025 Oral] Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
arXiv / Repo -
[RAL 2025] Imit Diff: Semantics Guided Diffusion Transformer with Dual Resolution Fusion for Imitation Learning
arXiv -
A Real-Sim-Real Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation
arXiv
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MuJoCo-LiDAR: A high-performance LiDAR simulation tool for MuJoCo.
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urdf2mjcf: One-click generation of simulation-ready MJCF files from URDF.
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ROBOCON2026-MuJoCo: A MuJoCo simulation environment for ROBOCON 2026 with motion-control strategies, multi-sensor support, and ROS2 interfaces.
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ICRA 2025 Sim2Real Challenge (S2R2025)
Organizer & Technical Support. A premier ICRA 2025 event focused on high-fidelity simulation and real-world robot deployment. -
RoboMaster 2024 University Sim2Real Challenge (RMUS 2024)
Organizer & Technical Support. Part of ICRA 2024, advancing sim-to-real robotics through autonomous ore-exchange tasks.